CN102917927A - Method for controlling a brake system of a vehicle with an electronically regulated rear-axle brake circuit and an pneumatically controlled front-axle brake circuit - Google Patents

Abstract

The present invention relates to a method for controlling a pressure-medium operated and at least partially electronic braking device (1) for a vehicle having at least two axles (VA, HA). The invention proposes to generate braking pressure (PVA) for a wheel brake (2) on one axle (VA) in a pressure-controlled manner and to electronically regulate braking pressure (PHA) for a wheel brake (4) on at least another axle (HA).

Description

Method for controlling the brake system of a vehicle having an electronically regulated rear axle brake circuit and a pneumatically controlled front axle brake circuit

technical field

The invention relates to a method according to the preamble of claim 1 for controlling a pressure-medium-operated and at least partly electronic brake system of a vehicle having at least two axles, and a method according to claim 1 Brake system controlled by this method according to the preamble of claim 9.

Background technique

Such a method or such a brake system is known, for example, from DE 199 23 455 A1. The known brake system is electronically adjusted as a whole and has a front axle brake circuit and a rear axle brake circuit with a 1-channel pressure regulation module for axially adjusting the wheels of the front axle Brake pressure in the brakes, the rear axle brake circuit has a 2-channel-pressure regulation module for wheel-based regulation of the brake pressure in the wheel brakes of the rear axle, thus implementing the so-called Electronic Brake System (EBS ). The pressure regulation module is electrically controlled by the electrical signal of the foot brake module and has its own control electronics, inlet valve, outlet valve, relay valve and backup valve as well as a pressure sensor in order to be able to adjust the pressure by means of The pneumatic actual brake pressure measured by the pressure sensor is adjusted to a setpoint brake pressure which is formed as a function of the driver's wishes. Such a pressure regulation module is known, for example, from DE 42 27 084 A1.

Furthermore, braking systems in tractor vehicles usually also have a trailer control module in order to be able to control the brakes of the tractor's trailer electrically and pneumatically.

In addition, the known brake system also has a central electronic controller in order to be able to implement other electronic braking systems in addition to ABS (Antilock Braking System), ASR (Traction Slip Regulation) or ESP (Electronic Stability System) Relevant, currently common functions such as hill holding, tilt prevention (tilt-prevention), coupling force regulation between tractor and trailer or load-dependent deceleration regulation. However, this range of functions is purchased at the expense of a certain investment in components (sensor system and transmission).

In contrast, a brake system with a smaller functional scope and thus also with reduced structural outlay is also known from the prior art, for example DE 10155952 A1, in which case the driver can be independent of the ABS pressure control valve The brake pressures generated by the service brake valves for the front and rear axles are varied in such a way that only wheel or axle brake slip regulation is possible by means of pressure reduction, pressure hold or pressure increase ( ABS).

Contents of the invention

It is therefore the object of the present invention to develop a method for controlling a brake system or a brake system of the aforementioned type in such a way that the greatest possible functional range of the brake system is achieved with as little outlay as possible.

According to the invention, this object is achieved by the features of claim 1 and claim 9 .

The idea of the invention is to generate only pressure-controlled braking pressure for the wheel brakes on one axle, for example the front axle, and to electronically regulate the braking pressure for the wheel brakes on at least another axle, for example the rear axle. The brake pressure of the brake.

In other words, a brake system is proposed in which the brake pressure on one axis is controlled only pneumatically in a pressure-controlled manner and is regulated electronically in at least the other axis only in a pressure-regulated manner. Brake pressure on one axis. Only pressure-controlled generation of the brake pressure for the wheel brakes of one axle is understood to mean that, for example, not a brake circuit is superimposed with electronic brake pressure regulation in which the actual brake pressure is Adjust the dynamic pressure to the rated braking pressure. Rather, only the pneumatic brake circuit exists without brake pressure regulation.

As a result, components that would otherwise be necessary for pressure regulation, such as, for example, pressure sensors and control electronics, can be dispensed with on the only pneumatically actuated brake of an axis.

Advantageous refinements and refinements of the invention specified in claim 1 and claim 9 are achieved by the measures described in the subclaims.

The pressure control of the wheel brakes of an axle is particularly preferably supplemented in such a way that the brake pressure for the wheel brakes on an axle is adjusted as a function of the brake slip of the wheels of this axle, so that the axle has an ABS function. However, the regulating parameter is not brake pressure, but brake slip.

According to a particularly preferred embodiment, an electrical signal representing the braking pressure for the wheel brakes on an axle (for example the front axle) or representing the braking effect on the wheels of an axle is generated and based on this electrical signal the The brake pressure for the wheel brakes on at least one other axle (for example the rear axle) is electronically adjusted to a setpoint brake pressure.

The coupling of the two brake circuits is achieved by means of an electrically regulated brake circuit control of at least one other shaft via an electrical signal assigned to one shaft and transmitted to the one shaft by a brake pressure or a brake effect. This coupling makes it possible to implement typical functions of the electronic brake system (EBS), such as: differential slip control, which reduces the brake pressure on the rear axle, for example, depending on the differential slip; parking brake; Assist when driving on hills; assist in traffic jams; adjustment for avoiding rollover of the tractor (tilt-prevention) or between tractor and trailer even in brake systems with only pneumatically actuated brake circuits Coupling force adjustment, so that the functional scope of the electronic braking system is basically not limited.

For example, this coupling can be realized in such a way that the service brake valve generates a brake pressure for the wheel brakes of an axle, for example the front axle, wherein the brake pressure is measured by means of a pressure sensor in order to generate a Electrical signal of the brake pressure of the wheel brakes on one axle.

Alternatively, it is also possible to determine the position and the characteristic curve of the brake evaluator of the service brake valve or to determine the differential slip between the one axis and the at least one other axis that exists during braking. Electrical signal for the brake pressure of the wheel brakes on one axle.

The braking effect caused by the brake pressure on one axle can then be measured, for example by means of a wheel speed sensor on the axle, and can be applied to the electronic controller, which then controls the Electric braking circuit for at least one other axis.

In addition to the brake pressure for the wheel brakes on one axle, other factors are also decisive for forming the brake pressure for the wheel brakes of at least one other axle, such as cargo volume, axle load, Difference between shaft slip rate and lining wear.

The control pressure or backup pressure for the wheel brakes on at least one other axle (for example the rear axle) is preferably generated by the foot brake valve or the foot brake module, for which the electronic brake pressure In the event of failure of the control or front axle brake pressure, the brake pressure for at least one other axle can be generated purely in a pressure medium controlled manner from the aforementioned control pressure or backup pressure. Thus, the rear axle brake circuit can be electronically regulated on the one hand by means of an electrical signal based on the front axle brake pressure or brake effect on the front axle, and on the other hand can also be pressure controlled by means of a parallel generated control pressure or reserve pressure. Media control, thereby enabling dual-circuit control of the rear axle brake circuit and a lowered safety level in the event of failure of the electronic brake pressure regulation for the rear axle or the front axle brake pressure itself .

Furthermore, preferably at least depending on an electrical signal representing the braking pressure for the wheel brakes on one axle (for example the front axle) or representing the braking effect on the wheels of one axle the activation of the wheel brakes for the trailer of the vehicle is generated brake pressure.

In the case where it is not possible to generate an electrical signal representing the braking pressure for the wheel brakes on an axle (for example the front axle) or representing the braking effect on the wheels of an axle because of e.g. a failure of an electrical device, preferably It is also possible to generate the braking pressure for the wheel brakes of the trailer directly as a function of the braking pressure for the wheel brakes on an axle (for example the front axle), ie by pure pressure control.

In the event of an electrical failure, the brake pressure for the wheel brakes of the trailer vehicle is then generated in a pressure-controlled manner as a function of the brake pressure for the wheel brakes on an axle (for example, the front axle).

Alternatively or additionally, for the case where it is not possible to form an electrical signal representing the braking pressure for the wheel brakes on one axle (for example the front axle) or representing the braking effect on the wheels of one axle, The braking pressure for the wheel brakes of the trailer vehicle can be generated as a function of the backup pressure of the wheel brakes for the at least one other axle (eg the rear axle). This back-up pressure control is then of course electropneumatic as described in the embodiments below.

If the control via backup pressure of at least one other axis fails, it is still possible to form the trailer brake pressure on the basis of the brake pressure on one axis and/or to represent this brake pressure or to represent the braking effect on one axis electrical signal.

Thus, an at least two-circuit control of the trailer brakes required by the legislator is achieved.

The invention also relates to a pressure-medium-actuated and at least partially electronic brake system of a vehicle having at least two axles, which brake system is controlled by the aforementioned method. The braking equipment includes at least:

a) a foot brake valve or a foot brake module which, depending on the driver's actuation, directly generates the braking pressure for the wheel brakes of one axle,

b) At least one pressure regulation module, which electronically regulates the brake pressure for the wheel brakes on at least one other axle as a function of the service brake valve or the brake request signal of the service brake module.

Parts are particularly preferably provided for generating an electrical signal representing the braking pressure for a wheel brake on an axle or representing the braking effect on a wheel of an axle, wherein the pressure regulation module depends on the electrical signal, electronically The brake pressure for the wheel brakes on at least one other axle is adjusted accordingly. This adjustment can be understood as brake pressure adjustment. This means that the actual brake pressure is adjusted to the nominal brake pressure.

For example, means for generating an electrical signal representative of brake pressure for a wheel brake on an axle or representative of the braking effect on a wheel of an axle includes one or more of the following:

a) at least one pressure sensor for measuring the brake pressure generated by the service brake valve for the wheel brakes on one axle; or

b) at least one electrical channel of the service brake module;

c) Wheel speed sensors for measuring the braking effect of the wheel brakes on one axle based on the brake pressure acting there.

At least one pressure regulation module for the wheel brakes of at least one other axle (eg rear axle) is designed such that, in the event of electronic regulation failure, the pressure regulation module forms a brake pressure on the wheel brakes.

In order to implement the ABS function on an axle (for example the front axle), pressure control valves, wheel speed sensors and an electronic controller with brake slip control electronics are preferably provided there for each wheel.

In order to achieve the aforementioned functionality with regard to the control of the trailer brakes, a trailer control module is also preferably provided, which depends on the brake pressure representing the wheel brakes on an axle (for example, the front axle) or on the Electrical signal of the braking effect on the wheels of one axle, the brake pressure for the wheel brakes on one axle (e.g. the front axle) or depending on the control of the wheel brakes for at least another axle (e.g. the rear axle) The pressure or backup pressure generates the braking pressure for the wheel brakes of the trailer. The control or backup pressure for the wheel brakes of at least one other axle (eg the rear axle) is generated directly by the service brake valve or the service brake module.

According to a particularly preferred embodiment, at least one pressure regulation module of the rear axle comprises at least one integrated pressure sensor which generates a pressure representing the control pressure or backup pressure of the wheel brakes for at least one other axle (eg the rear axle) The electrical signal, upon which the brake pressure for the wheel brakes of the trailer is then formed in the trailer control module, as described above.

According to another embodiment, the purely pneumatically controlled axle can be the rear axle, and at least one other axle with electronic brake pressure regulation can be the front axle.

Description of drawings

Further measures for improving the invention will be explained below with the aid of the description of exemplary embodiments of the invention and with reference to the drawings.

The accompanying drawings show:

FIG. 1 shows a schematic circuit diagram of a preferred embodiment of a braking system of a vehicle according to the invention;

FIG. 2 shows a schematic circuit diagram of another embodiment of a brake system of a vehicle according to the invention.

Detailed ways

The preferred embodiment of the pressure-medium-actuated brake system 1 shown in FIG. 1 is used for braking a tractor vehicle, which is also suitable for trailer operation.

The brake system 1 is preferably designed as an electro-pneumatic and has a two-channel pneumatic foot brake valve FBV, which, depending on the actuation of the driver, generates a brake circuit for the front axle VA for the front axle brake circuit. The brake pressure of the wheel brakes 2 and for the rear axle brake circuit generates the control pressure or backup pressure of the wheel brakes 4 for the rear axle HA. For this purpose, compressed air is supplied at stored pressure from the front axle compressed air accumulator 10 and the rear axle compressed air accumulator 12 to the service brake valve FBV via the accumulator lines 6 , 8 .

Specifically, the back-up pressure generated by the foot brake valve FBV is delivered via the pressure line 14 to the 2-channel pressure regulation module EPM of the rear axle HA, which is pressure-controlled by the control pressure or back-up pressure p _HA on each side In a controlled manner, the rear axle brake pressure for the service brake cylinder of the combination cylinder 4 is controlled via the brake lines 16, 18, which also includes a spring-energy storage type brake cylinder. However, the pneumatically controlled formation of the rear axle brake pressure via the reserve pressure is secondary to the electrical control of the 2-channel pressure regulation module EPM via the electronic controller ECU. For this purpose, the front axle brake pressure p _VA delivered by the foot brake valve FBV in the pressure line 20 to the trailer control module TCM is preferably measured by means of the pressure sensor PS and an electrical signal representing this pressure is generated and subsequently It is input into the electronic controller ECU through the electric line 22. The electronic controller then actuates the 2-channel pressure regulation module EPM as a function of the electrical signal in order to adjust the rear axle brake pressure from the stored pressure drawn from the pressure air store 12 of the rear axle brake circuit via the storage line 24 .

The 2-channel pressure regulation module EPM has its own control electronics and for each channel (right, left) has an inlet valve, an outlet valve, a relay valve, a backup valve and a pressure sensor for pressure-dependent The method adjusts the pneumatic actual rear axle brake pressure measured by means of the pressure sensor to the setpoint rear axle brake pressure represented by the electrical signal controlled by the electronic control unit ECU.

If electrical control by the electronic controller ECU is not possible, for example because the electric brake circuit is disturbed or because the front axle brake pressure fails (e.g. due to a leak), the integrated back-up valve is controlled by the rear axle channel 26 of the foot brake valve FBV The control pressure or reserve pressure p _HA introduced via pressure line 14 is connected to the control inlet of the integrated relay valve in order to generate the corresponding rear axle brake pressure. Such a 2-channel pressure regulation module EPM is known, for example, from DE 42 27 084 A1.

The front axle brake pressure generated in the front axle channel 28 of the service brake valve FBV is used in addition to the pneumatic control of the trailer control module TCM, in particular for the wheel braking of the front axle VA by means of the pressure line 30 Moving cylinder 2 is ventilated. An ABS pressure control valve PCV is preferably connected on each side of this pressure line 30 in order to be able to adjust the optimum brake slip rate as a function of the brake slip rate present at the respective front wheels concerned. For this purpose, the ABS pressure control valve PCV is controlled via the electrical line 34 by the electronic controller ECU in which the ABS function is carried out. Brake slip control is performed in a known manner by means of cyclic pressure increase, pressure hold and pressure decrease. The electronic control unit ECU receives the necessary information about the brake slip that is present or the instantaneous vehicle speed via the wheel speed sensor DS.

The braking effect caused by the brake pressure p _VA on the front axle VA is also measured by means of the wheel speed sensor DS on the front axle VA and applied to the electronic control unit ECU in order to be able to replace Alternatively, the electrical rear axle brake circuit is also controlled depending on signals subsequently generated by the electronic control unit ECU, for example in the manner of differential slip regulation.

The trailer control module TCM generates a pneumatic control pressure for the wheel brakes (not shown here) of the trailer in coupling head “Bremse” 36 . On the other hand, the trailer control module supplies the stored pressure discharged from the compressed air accumulator 12 for the rear axle via the accumulator line 38 into the coupling head “accumulator” 40 .

Via the parking brake system 42 , which is not relevant here, the spring accumulator brake of the combined cylinder 4 of the rear axle HA and the service brake of the trailer can be braked via the trailer control module TCM.

Like the 2-channel pressure regulation module EPM of the rear axle HA, the trailer control module TCM is controlled electrically on the one hand and pneumatically on the other hand in order to exhibit the required 2-circuit control. Furthermore, the pneumatic control takes place as described above via the front axle brake pressure p _VA , and the electrical control takes place as a function of the electrical signal representing the front axle brake pressure p _VA . To this end, the trailer control module TCM is connected via an electrical line 44 to the electronic controller ECU, which processes the signal of the pressure sensor PS which measures the front axle brake pressure _pVA .

Due to the pressure line 20 between the front axle duct 28 and the corresponding pressure inlet of the trailer control module TCM, it is possible to generate an electrical signal representing the front axle brake pressure p _VA if, for example, an electrical failure fails. The braking pressure for the wheel brakes of the trailer is generated directly as a function of the front axle braking pressure p _VA , ie by pure pressure control.

Furthermore, the trailer control module TCM can be controlled as a function of the control pressure or reserve pressure p _HA of the rear axle HA. For this purpose, the control pressure or reserve pressure p _HA of the rear axle HA is measured by the pressure sensor PS integrated in the 2-channel pressure regulation module EPM of the rear axle HA and an electrical signal representing this control pressure or reserve pressure is generated, which The signal is fed into the electronic control unit ECU, which in turn generates an electrical control signal for the trailer control module TCM from this electrical signal, in order to then also generate an electrical control signal for the trailer at the coupling head "Bremse" 36 brake pressure of the wheel brakes.

Thus, braking for the wheel brakes of the trailer vehicle can also be generated as a function of the rear axle reserve pressure p _HA for the case where, for example, the failure of the front axle brake pressure p _VA fails to generate an electrical signal representing the front axle brake pressure Pressure, however, is achieved through an electrical circuit comprising an electronic controller ECU.

Conversely, if the electrical control fails, the trailer brake pressure can be formed directly as a function of the front axle brake pressure p _VA .

Furthermore, the signals of the wheel-mounted lining wear sensors BVS are fed into the electronic controller in order to provide the electronic controller with information about the momentary actual brake pressure and the state of wear of the brake linings.

The pneumatic hysteresis of the service brake valve FBV on the rear axle HA can then be compensated electronically by short-term overpressure or underpressure (“negative hysteresis”). As a result, a braking feel can also be achieved in a commercial vehicle as in a passenger car (PKW).

Furthermore, the pressure drop gradient can be assisted by the pressure control valve PCV, as a result of which short separation times can be achieved in particular at the front axle VA.

In the embodiment of FIG. 2 , structural elements and components that are identical or have the same effect as compared to the embodiment of FIG. 1 have the same reference numerals. In contrast to the embodiment in FIG. 1 , the braking system according to FIG. 2 does not have a service brake valve FBV, but a service brake module FBM, which has its own electrical channel 46 , which There is an electrical signal line 48 to the electronic controller ECU in which electrical signals depending on the steering level are generated in parallel with the pneumatic signals in the rear axle channel 26 and in the front axle channel 28 .

Thus, instead of via the pressure sensor PS of FIG. 1 , an electrical signal representing the braking pressure p _VA for the wheel brakes 2 on the front axle VA is generated via the electrical channel 46 of the service brake module FBM. In parallel to this, the wheel speed sensor DS is used to determine the braking effect on the front axle VA on the basis of the brake pressure p _VA . The electric rear axle brake circuit or the trailer control module is then controlled in the same way as in the preceding embodiments using this electrical signal fed into the electronic control unit ECU. List of reference signs

BVS lining wear sensor

DS wheel speed sensor

ECU controller

EPM pressure regulation module

FBV foot brake valve

FBM Foot Brake Module

PS pressure sensor

PCV ABS pressure control valve

VA front axle

HA rear axle

P _HA control pressure or backup pressure rear axle

p _VA brake pressure front axle

1 brake equipment

2 wheel brakes

4 wheel brakes

6 storage pipeline

8 storage lines

10 Compressed air storage

12 Compressed air storage

14 pressure line

16 brake line

18 brake line

20 pressure line

22 wires

24 storage pipeline

26 rear axle channel

28 front axle channel

30 pressure line

34 wires

36 Coupling head "Brake (Bremse)" 38 Storage line

40 Connector "Storage (Vorrat)"

42 Parking brake equipment

44 wires

46 electrical channels

48 signal lines

Claims (18)

1. one kind is used for control and has at least two axle (VA, HA) vehicle, hydraulically controlled and at least part of is the method for the brake equipment (1) of electronics, wherein produces brake-pressure (p for the car side brake (2) on an axle (VA) in pressure controlled mode _VA), it is characterized in that, according to the brake-pressure (p that is used for that actual brake pressure is adjusted to the mode that the brake-pressure of specified brake-pressure is regulated, regulates electronically being used for the hydraulically controlled car side brake (4) on another axle (HA) at least _HA).

2. method according to claim 1 is characterized in that, depends on that the brake slip rate of the wheel of described axle (VA) is regulated the described brake-pressure (p that is used for the described car side brake (2) on a described axle (VA) _VA).

3. method according to claim 1 and 2 is characterized in that, produces the described brake-pressure (p that representative is used for the described car side brake (2) on a described axle (VA) _VA) or the electric signal of braking effect of representative on the described wheel of a described axle (VA).

4. method according to claim 3 is characterized in that, depends on that at least representative is used for the described brake-pressure (p of the described car side brake (2) on a described axle (VA) _VA) or the described electric signal of described braking effect of representative on the described wheel of a described axle (VA), the described brake-pressure that is used for the described car side brake (4) on described at least another axle (HA) is carried out brake-pressure regulate.

5. according to each described method in the aforementioned claim, it is characterized in that, produce the control presssure or the reserve pressure (p that are used for the described car side brake (4) on described at least another axle (HA) _HA), in the situation for the deceleration of electrons pressure failure of adjustment of described at least another axle (HA), by producing brake-pressure for described at least another axle (HA) in the controlled mode of pressure medium in described control presssure or the reserve pressure.

6. method according to claim 3 is characterized in that, depends on that at least representative is used for the described brake-pressure (p of the described car side brake (2) on a described axle (VA) _VA) or the described electric signal of described braking effect of representative on the described wheel of a described axle (VA), produce the brake-pressure of the car side brake of the trailer that is used for described vehicle.

7. method according to claim 6 is characterized in that, for not forming the described brake-pressure (p of representative for the described car side brake (2) on a described axle (VA) _VA) or the situation of described electric signal of the described braking effect of representative on the described wheel of a described axle (VA), directly depend on the described brake-pressure (p for the described car side brake on a described axle (VA) _VA) produce to be used for the described brake-pressure of the described car side brake of described trailer.

According to claim 3 with 5 described methods, it is characterized in that, for the described brake-pressure (p that can not form representative and be used for the described car side brake (2) on a described axle (VA) _VA) or the situation of described electric signal of the described braking effect of representative on the described wheel of a described axle (VA), depend on described control presssure or reserve pressure (p for the described car side brake (4) of described at least another axle (HA) _HA) produce to be used for the described brake-pressure of the described car side brake of described trailer.

9. one kind has at least two axle (VA, HA) vehicle, hydraulically controlled and at least part of is the brake equipment (1) of electronics, described brake equipment is by controlling according to each described method in the aforementioned claim, described brake equipment comprises: Foot braking valve (FBV) or pedal brake module (FBM), described Foot braking valve or pedal brake module depend on that the manipulation of chaufeur directly produces the brake-pressure (p of the car side brake that is used for axle (VA) _VA), it is characterized in that at least one pressure adjusting module (EPM), described pressure adjusting module depends on the brake request signal of described Foot braking valve (FBV) or described pedal brake module (FBM), according to the brake-pressure that is used for that actual brake pressure is adjusted to the mode that the brake-pressure of specified brake-pressure is regulated, regulates electronically being used for the car side brake (4) on another axle (HA) at least.

10. device according to claim 9 is characterized in that, is provided with the described brake-pressure (p that is used for the described car side brake (2) on a described axle (VA) for generation of representative _VA) or the parts of electric signal of the braking effect of representative on the wheel of a described axle (VA), wherein said pressure adjusting module (EPM) depends on that described electric signal regulates the described brake-pressure for the described car side brake (4) on described at least another axle (HA) electronically.

11. device according to claim 10 is characterized in that, is used for the described brake-pressure (p of the described car side brake (2) on a described axle (VA) for generation of representative _VA) or the described parts of described electric signal of the braking effect of representative on the described car side brake (2) on the described axle (VA) comprise one or more following parts:

A) at least one is used for measuring the described brake-pressure (p that is produced by described Foot braking valve (FBV), be used for the described car side brake (2) on a described axle (VA) _VA) pressure sensor (PS);

B) at least one electric channel (46) of described pedal brake module (FBM);

C) be used for based on the described brake-pressure (p that works there _VA) measure the wheel speed sensor (DS) of the braking effect on the described car side brake (2) on the described axle (VA).

12. each described device in 11 according to claim 9, it is characterized in that, described at least one pressure adjusting module (EPM) that is used for the described car side brake (4) of described at least another axle (HA) is designed to, described pressure adjusting module depends on the described brake-pressure that control presssure or reserve pressure initiation for described at least another axle (HA) are used for the described car side brake on described at least another axle (HA) in the situation that electronic control lost efficacy.

13. device according to claim 12 is characterized in that trailer control module (TCM), described trailer control module depends on that representative is used for the described brake-pressure (p of the described car side brake (2) on a described axle (VA) _VA) or the described electric signal of braking effect of representative on the wheel of a described axle (VA), directly depend on for the described brake-pressure (pVA) of the described car side brake (2) on a described axle (VA) or depend on control presssure or reserve pressure (p for the described car side brake (4) of described at least another axle (HA) _HA) produce to be used for the described brake-pressure of described car side brake of the trailer of described vehicle.

14. device according to claim 13, it is characterized in that, described at least one pressure adjusting module (EPM) comprises the pressure sensor that at least one is integrated, and described pressure sensor produces described control presssure or the reserve pressure (p that representative is used for the described car side brake (4) of described at least another axle (HA) _HA) electric signal, depend on that described electric signal is formed for the described brake-pressure of the described car side brake of described trailer in described trailer control module (TCM).

15. each described device in 14 according to claim 9, it is characterized in that at least one pressure-gradient control valve (PCV), wheel speed sensor (DS) and electronic controller (ECU), described electronic controller is used for regulating the described brake-pressure (p that is used for the described car side brake (2) on a described axle (VA) _VA) the brake slip rate.

16. each described device in 15 is characterized in that according to claim 9, a described axle (VA) is that front axle and described at least another axle are rear axle (HA).

17. each described device in 15 is characterized in that according to claim 9, a described axle (HA) is that rear axle and described at least another axle are front axle (VA).

18. a vehicle comprises according to claim 9 each described device in 17.

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